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Distributed synchronization method of multi-motor driving system's accelerated backstepping tracking control.

Zhiwei Chen1, Shaohua Luo1, Yinquan Yu2

  • 1School of Mechanical Engineering, Guizhou University, Guiyang 550025, China.

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|June 25, 2024
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Summary
This summary is machine-generated.

This study introduces a novel distributed synchronization control and accelerated backstepping tracking control for multi-motor driving systems (MMDS). The method ensures torque synchronization and superior load tracking performance in complex nonlinear systems.

Keywords:
Accelerated backstepping controlDistributed controlMean deviation coupling synchronization controlMulti-motor driving systemSecond-order tracking differentiator

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Area of Science:

  • Control Systems Engineering
  • Robotics
  • Mechanical Engineering

Background:

  • Multi-motor driving systems (MMDS) present complex nonlinear dynamics, including dead zones, friction, and external disturbances.
  • Achieving precise load tracking and torque synchronization in MMDS is challenging due to diverse torque inputs and potential overload conditions.

Purpose of the Study:

  • To propose a distributed synchronization control method for MMDS.
  • To develop an accelerated backstepping tracking control scheme for enhanced load tracking performance.
  • To ensure torque synchronization and system stability under complex operating conditions.

Main Methods:

  • Development of a dynamic model for MMDS incorporating nonlinear elements.
  • Integration of a speed function, cosine barrier function, second-order tracking differentiator (TD), and disturbance compensator into the backstepping approach.
  • Design of a distributed synchronization control scheme with a communication network for local coupling and improved synchronization efficiency, utilizing Lyapunov theory for stability analysis.

Main Results:

  • The proposed control scheme effectively achieves torque synchronization in MMDS.
  • Superior load tracking performance is demonstrated.
  • Simulation results confirm the effectiveness and stability of the developed control strategy for MMDS.

Conclusions:

  • The novel distributed synchronization control and accelerated backstepping tracking control scheme significantly enhances MMDS performance.
  • The method provides a robust solution for complex nonlinear systems requiring precise control and synchronization.
  • The proposed approach ensures system stability and efficient operation under challenging conditions.